Come season 2, he works alongside them and is a Kid Hero himself.
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In the show, he simply gains Miss Martian's green skin and shape-shifting powers after a Superhuman Transfusion from her.
He shares a close bond with Miss Martian and treat each other like brother and sister. At age 13, Beast Boy is the one of the youngest members of the Team. The son of zoologist and former actress Marie Logan, Garfield first encountered the team when they saved him and his mother from a stampede and after an injury receives a blood transfusion from Miss Martian. Nobody on the team realizes this is going on, until "Antisocial Pathologies".
Geo-Force is the only actual member of the Outsiders (at least until Superboy joins at the very end of season 3), while the other members have all been a part of the Teen Titans.
The Outsiders, the group of heroes formed by Beast Boy to be a public team of young heroes unaffiliated with the Justice League, to better combat the Light. Left to Right: Kid Flash, Blue Beetle, Static, Beast Boy, Geo-Force, Wonder Girl.